Multi-motor-pendulum vibration systems have been applied to design shale shakers in petroleum drilling engineering. However, synchronization of the multi-motor-pendulum vibration system is instable on account of external load disturbance and systematic parameter restriction, which is a principal factor to decrease screening efficiency of shale shakers. In this work, to maintain stability synchronization of three eccentric rotors driven by three induction motors, a combined synchronous control strategy by tracking velocity and phase among the motors is proposed. First, the dynamic model of the system is deduced based on the Lagrange equation. Second, adjacent cross-coupled control combined with master–slave control is designed to control speed and synchronization between the motors in the multi-motor-pendulum vibration system. Third, to ensure the precision and robustness of the control system, the velocity error, phase error, and coupling error controllers are designed with reaching law algorithm and global sliding mode control; and stability of the controller system is validated by the Lyapunov theorem. Finally, the effectiveness of the control strategy is verified by numerical simulation and compared with previous findings. The results indicate that synchronous state and velocity overshoot of the motors can be controlled with the combined control strategy; and robustness of the control strategy is better than other methods.

多电机摆式振动系统已应用于石油钻井工程中的页岩振动筛设计。然而，由于外部负载扰动和系统参数限制，多电机摆振动系统的同步是不稳定的，这是降低页岩振动筛筛分效率的主要因素。在这项工作中，为了保持由三个感应电动机驱动的三个偏心转子的稳定性同步，提出了一种通过跟踪电动机之间的速度和相位的组合同步控制策略。首先，基于拉格朗日方程推导系统的动力学模型。其次，相邻的交叉耦合控制与主从控制相结合，旨在控制多电机摆式振动系统中电机之间的速度和同步。第三，为保证控制系统的精度和鲁棒性，设计了速度误差，相位误差和耦合误差控制器，并采用到达律算法和全局滑模控制。Lyapunov定理验证了控制器系统的稳定性。最后，通过数值仿真验证了该控制策略的有效性，并与先前的发现进行了比较。结果表明，通过组合控制策略可以控制电动机的同步状态和速度超调。控制策略的鲁棒性优于其他方法。Lyapunov定理验证了控制器系统的稳定性。最后，通过数值仿真验证了该控制策略的有效性，并与先前的发现进行了比较。结果表明，通过组合控制策略可以控制电动机的同步状态和速度超调。控制策略的鲁棒性优于其他方法。Lyapunov定理验证了控制器系统的稳定性。最后，通过数值仿真验证了该控制策略的有效性，并与先前的发现进行了比较。结果表明，通过组合控制策略可以控制电动机的同步状态和速度超调。控制策略的鲁棒性优于其他方法。